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dc.contributor.authorNorgren, Petter
dc.contributor.authorSkjetne, Roger
dc.date.accessioned2019-03-05T08:42:41Z
dc.date.available2019-03-05T08:42:41Z
dc.date.created2018-09-19T12:11:10Z
dc.date.issued2018
dc.identifier.citationIEEE Access. 2018, 6 26318-26337.nb_NO
dc.identifier.issn2169-3536
dc.identifier.urihttp://hdl.handle.net/11250/2588665
dc.description.abstractUsing autonomous underwater vehicles (AUVs) for mapping underwater topography of sea-ice and icebergs, or detecting keels of ice ridges, is foreseen as enabling technology in future Arctic marine operations. Wind, current, and Coriolis forces affect an iceberg’s trajectory, making automated mapping difficult. This paper presents a method aiming at enabling autonomous iceberg mapping using AUVs equipped with a multibeam echosounder by estimating the position and orientation of the iceberg. The method is based on a bathymetric simultaneous localization and mapping (SLAM) algorithm, namely the bathymetric distributed particle filter SLAM (BPSLAM) algorithm. The proposed method estimates the AUV’s pose in an iceberg-fixed coordinate system. The relative states can be used for both guiding the vehicle to achieve complete coverage, as well as estimation of a consistent iceberg topography. The algorithm also provides an estimate of the iceberg’s drift velocity – an important parameter for the AUV trajectory planning as well as any related ice management (IM) operations. Two new weighting algorithms for the BPSLAM method are proposed, enabling batch processing of multibeam echosounder (MBE) measurements to ensure real-time operation without discarding information. The proposed method is demonstrated using a real iceberg topography taken from the PERD iceberg sightings database, with simulated AUV and MBE range measurements. The algorithm is also evaluated on a real world bathymetric dataset, collected using the HUGIN HUS AUV.nb_NO
dc.language.isoengnb_NO
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)nb_NO
dc.relation.urihttps://ieeexplore.ieee.org/document/8351915
dc.subjectIsforvaltningnb_NO
dc.subjectIce Managementnb_NO
dc.subjectArktisk teknologinb_NO
dc.subjectArctic Technologynb_NO
dc.subjectMarin kybernetikknb_NO
dc.subjectMarine cyberneticsnb_NO
dc.titleA Multibeam-Based SLAM Algorithm for Iceberg Mapping Using AUVsnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.description.versionpublishedVersionnb_NO
dc.subject.nsiVDP::Annen marin teknologi: 589nb_NO
dc.subject.nsiVDP::Other marine technology: 589nb_NO
dc.source.pagenumber26318-26337nb_NO
dc.source.volume6nb_NO
dc.source.journalIEEE Accessnb_NO
dc.identifier.doi10.1109/ACCESS.2018.2830819
dc.identifier.cristin1610991
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.relation.projectNorges forskningsråd: 203471nb_NO
dc.description.localcodeCopyright 2018 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/redistribution requires IEEE permission.nb_NO
cristin.unitcode194,64,20,0
cristin.unitnameInstitutt for marin teknikk
cristin.ispublishedtrue
cristin.fulltextoriginal
cristin.qualitycode1


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